From 05fdcca82c5289cd4dfc57ed7d07a8a9cd6bd078 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 23 Feb 2023 22:49:52 -0500
Subject: [PATCH] uhhh why not multiplex busses?!

---
 selfdrive/car/hyundai/carcontroller.py | 2 +-
 selfdrive/car/hyundai/carstate.py      | 4 ++--
 selfdrive/car/hyundai/hyundaican.py    | 2 +-
 selfdrive/car/hyundai/hyundaicanfd.py  | 8 +++++---
 selfdrive/car/hyundai/interface.py     | 4 ++--
 5 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4b19afa3f2..7af8f0f15d 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -118,7 +118,7 @@ class CarController:
 
       # disable LFA on HDA2
       if self.frame % 5 == 0 and (hda2 or can_canfd):
-        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CP, CS.cam_0x2a4))
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 331410fb2e..575e0b36a9 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -382,7 +382,7 @@ class CarState(CarStateBase):
       signals.append(("CF_Lvr_Gear", "LVR12"))
       checks.append(("LVR12", 100))
 
-    bus = 5 if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
+    bus = 1 if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
 
   @staticmethod
@@ -447,7 +447,7 @@ class CarState(CarStateBase):
       signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
       checks += [("CAM_0x2a4", 20)]
 
-    bus = 6 if CP.flags & HyundaiFlags.CAN_CANFD else 2
+    bus = 2 if CP.flags & HyundaiFlags.CAN_CANFD else 2
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index ad573caf39..bf7cf9de8a 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -83,7 +83,7 @@ def create_clu11(packer, frame, clu11, button, CP):
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars
-  bus = 2 if CP.car_fingerprint in CAMERA_SCC_CAR else 5 if CP.flags & HyundaiFlags.CAN_CANFD else 0
+  bus = 2 if CP.car_fingerprint in CAMERA_SCC_CAR else 1 if CP.flags & HyundaiFlags.CAN_CANFD else 0
   return packer.make_can_msg("CLU11", bus, values)
 
 
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 94ff4193f5..3cfe984182 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -25,19 +25,21 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
   }
 
   if CP.flags & HyundaiFlags.CANFD_HDA2 or CP.flags & HyundaiFlags.CAN_CANFD:
+    lkas_bus = 0 if CP.flags & HyundaiFlags.CAN_CANFD else 4
     if CP.openpilotLongitudinalControl:
       ret.append(packer.make_can_msg("LFA", 5, values))
-    ret.append(packer.make_can_msg("LKAS", 4, values))
+    ret.append(packer.make_can_msg("LKAS", lkas_bus, values))
   else:
     ret.append(packer.make_can_msg("LFA", 4, values))
 
   return ret
 
-def create_cam_0x2a4(packer, camera_values):
+def create_cam_0x2a4(packer, CP, camera_values):
+  bus = 0 if CP.flags & HyundaiFlags.CAN_CANFD else 4
   camera_values.update({
     "BYTE7": 0,
   })
-  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
+  return packer.make_can_msg("CAM_0x2a4", bus, camera_values)
 
 def create_buttons(packer, CP, cnt, btn):
   values = {
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index bbf48ad469..9ce788b526 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
     else:
       # detect platforms with HKG CAN and CAN-FD definitions
-      if 0x50 in fingerprint[6] and 0x420 in fingerprint[5]:
+      if 0x50 in fingerprint[2] and 0x420 in fingerprint[1]:
         ret.flags |= HyundaiFlags.CAN_CANFD.value
 
       # Send LFA message on cars with HDA
@@ -254,7 +254,7 @@ class CarInterface(CarInterfaceBase):
       bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
       ret.enableBsm = 0x1e5 in fingerprint[bus]
     else:
-      bus = 5 if ret.flags & HyundaiFlags.CAN_CANFD else 0
+      bus = 1 if ret.flags & HyundaiFlags.CAN_CANFD else 0
       ret.enableBsm = 0x58b in fingerprint[bus]
 
     # *** panda safety config ***